Humanoid robots are challenging mechatronics structures with several interesting features.
Choosing a humanoid robot to develop applications or pursue research in a given direction …

Planning whole-body motions while taking into account the terrain conditions is a
challenging problem for legged robots since the terrain model might produce many local …

This paper presents a Non-Linear Model Predictive Controller for humanoid robot
locomotion with online step adjustment capabilities. The proposed controller considers the …

Humanoid robot teleoperation allows humans to integrate their cognitive capabilities with
the apparatus to perform tasks that need high strength, manoeuvrability and dexterity. This …

Assistive robots for healthcare have witnessed a growing demand over the past decades. In
this letter, we investigate the development of an optimization-based control framework with …

This paper proposes a new wheel motion generator to track the centroidal motion of one
quadruped-on-wheel robot which has the ability to cross various rough terrains with the …

This article presents a framework for systematic, stable and passive, dynamical balancing
and locomotion control of flexible-joint bipedal robots. In order to achieve stability/passivity …

The letter takes the first step toward the development of a control framework for
underactuated flying humanoid robots. These robots may thus have the capacities of flight …

Collaborative robots can relief human operators from excessive efforts during payload lifting
activities. Modelling the human partner allows the design of safe and efficient collaborative …

This work explores the stabilization of desired dynamic motion tasks involving hard impacts
at non-negligible speed for humanoid robots. To this end, a so-called reference spreading …